File size: 3,453 Bytes
46fa948
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
{
    "uuid": "07b69f26-1cb9-48c4-96ea-3e5d93d2962d",
    "geometry": {
        "faces": 79692,
        "vertices": 44101,
        "aligned_bbox": {
            "vertices": [
                [
                    -0.092,
                    -0.0573,
                    -0.0006
                ],
                [
                    -0.092,
                    -0.0573,
                    0.1489
                ],
                [
                    -0.092,
                    0.0594,
                    -0.0006
                ],
                [
                    -0.092,
                    0.0594,
                    0.1489
                ],
                [
                    0.1231,
                    -0.0573,
                    -0.0006
                ],
                [
                    0.1231,
                    -0.0573,
                    0.1489
                ],
                [
                    0.1231,
                    0.0594,
                    -0.0006
                ],
                [
                    0.1231,
                    0.0594,
                    0.1489
                ]
            ],
            "extents": [
                0.2151,
                0.1167,
                0.1494
            ]
        },
        "oriented_bbox": {
            "vertices": [
                [
                    -0.092,
                    -0.0574,
                    -0.0004
                ],
                [
                    0.123,
                    -0.0574,
                    -0.0005
                ],
                [
                    -0.0919,
                    -0.0573,
                    0.149
                ],
                [
                    0.1231,
                    -0.0573,
                    0.1488
                ],
                [
                    -0.092,
                    0.0593,
                    -0.0005
                ],
                [
                    0.123,
                    0.0593,
                    -0.0006
                ],
                [
                    -0.0919,
                    0.0594,
                    0.1489
                ],
                [
                    0.1231,
                    0.0594,
                    0.1488
                ]
            ],
            "extents": [
                0.2152,
                0.1168,
                0.1496
            ]
        },
        "radius": 0.1166
    },
    "active": {
        "place": {
            "up": {
                "orientation": [
                    1.0,
                    0.0007,
                    -0.0012,
                    -0.0028
                ],
                "projection_circle": {
                    "center": [
                        0.0156,
                        0.0033,
                        -0.0006,
                        1.0,
                        -0.0007,
                        0.0012,
                        0.0028
                    ],
                    "radius": 0.109
                },
                "contact_circle": {
                    "center": [
                        0.0153,
                        -0.0059,
                        -0.0006,
                        1.0,
                        -0.0007,
                        0.0012,
                        0.0028
                    ],
                    "radius": 0.1028
                }
            }
        }
    }
}